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can: fix can_write using the wrong signal sizes

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This commit is contained in:
Niklas Eiling 2020-07-08 16:07:34 +02:00 • committed by Steffen Vogel
parent 496daae78f
commit 62d6ef56e1
1 changed files with 8 additions and 16 deletions
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24
lib/nodes/can.cpp
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@ -147,7 +147,6 @@ int can_parse(struct node *n, json_t *cfg)
c->in = nullptr;
c->out = nullptr;
printf("can_parse\n");
ret = json_unpack_ex(cfg, &err, 0, "{ s: s, s: F, s?: { s?: o }, s?: { s?: o } }",
"interface_name", &c->interface_name,
@ -161,7 +160,6 @@ int can_parse(struct node *n, json_t *cfg)
jerror(&err, "Failed to parse configuration of node %s", node_name(n));
goto out;
}
printf("in: %lu, out: %lu\n", json_array_size(json_in_signals), json_array_size(json_out_signals));
if ((c->in = (struct can_signal*)calloc(
json_array_size(json_in_signals),
@ -220,11 +218,6 @@ int can_check(struct node *n)
int can_prepare(struct node *n)
{
struct signal* sig;
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
sig = (struct signal*)vlist_at(&n->in.signals, i);
printf("signal: %s\n", sig->name);
}
//struct can *c = (struct can *) n->_vd;
/* TODO: Add implementation here. The following is just an can */
@ -325,7 +318,8 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
return 0;
}
printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame.can_id,
debug(0,"received can message: (id:%d, len:%u, data: 0x%x:0x%x)",
frame.can_id,
frame.can_dlc,
((uint32_t*)&frame.data)[0],
((uint32_t*)&frame.data)[1]);
@ -338,7 +332,6 @@ int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rele
}
for (size_t i=0; i < vlist_length(&(n->in.signals)); i++) {
printf("%d\n", c->in[i].id);
if (c->in[i].id == frame.can_id) {
/* This is a bit ugly. But there is no clean way to
* clear the union. */
@ -385,7 +378,7 @@ int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rel
frame[fsize].can_id = c->out[i].id;
memcpy(((uint8_t*)&frame[fsize].data) + c->out[i].offset,
&smps[nwrite]->data[i],
c->in[i].size);
c->out[i].size);
fsize++;
}
for (size_t i=0; i < vlist_length(&(n->out.signals)); i++) {
@ -397,17 +390,18 @@ int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rel
frame[j].can_dlc += c->out[i].size;
memcpy(((uint8_t*)&frame[j].data) + c->out[i].offset,
&smps[nwrite]->data[i],
c->in[i].size);
c->out[i].size);
break;
}
}
}
for (size_t j=0; j < fsize; j++) {
printf("id:%d, len:%u, data: 0x%x:0x%x\n", frame[j].can_id,
debug(0,"writing can message: (id:%d, dlc:%u, data:0x%x:0x%x)", frame[j].can_id,
frame[j].can_dlc,
((uint32_t*)&frame[j].data)[0],
((uint32_t*)&frame[j].data)[1]);
if ((nbytes = write(c->socket, &frame, sizeof(struct can_frame))) == -1) {
if ((nbytes = write(c->socket, &frame[j], sizeof(struct can_frame))) == -1) {
error("CAN write() returned -1. Is the CAN interface up?");
return nwrite;
}
@ -417,7 +411,6 @@ int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *rel
return nwrite;
}
}
}
return nwrite;
}
@ -455,8 +448,7 @@ static void register_plugin() {
vlist_init(&plugins);
p.name = "can";
p.description = "CAN bus for Xilinx MPSoC boards";
p.type = PluginType::NODE;
p.description = "Receive CAN messages using the socketCAN driver";
p.node.instances.state = State::DESTROYED;
p.node.vectorize = 0;
p.node.size = sizeof(struct can);